Cargo handling vehicle for navigation in narrow aisles and method therefore

A method in a cargo handling vehicle comprising autonomous navigation within a narrow aisle, a chassis having at least two pairs of ground engagers, and a lifting boom provided on the chassis extending in an extension direction of the chassis, the lifting boom having a first end and a second end wherein the first end is attached to the chassis and the second end is provided with a cargo attachment, wherein the autonomous navigation performs:

• receiving a request for handling a freight container within the narrow aisle, wherein the request comprises a freight container identification (ID), a size of the freight container, and a position of the freight container,
• determining that a width of the narrow aisle has a width that is less than a length of the chassis,
• based on the size of the freight container, the width of the narrow aisle, and a length of the cargo handling vehicle, wherein when the width of the narrow isle is determined to be less than the length of the cargo handling vehicle, determining a travel angle for the cargo handling vehicle within the narrow aisle,
• steering each of the at least two pairs of ground engagers by independently aligning the cargo handling vehicle in relation to the narrow aisle to the travel angle, and
• driving each of the at least two pairs of ground engagers individually.